The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model

The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model

This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. T...

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Main Authors: Maziyah, Mat Noh, M. R., Arshad, Rosmiwati, Mohd Mokhtar
Format: Article
Language:English
Published: Penerbit Universiti Teknologi Malaysia 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/10108/
http://umpir.ump.edu.my/id/eprint/10108/
http://umpir.ump.edu.my/id/eprint/10108/
http://umpir.ump.edu.my/id/eprint/10108/1/The%20Evaluation%20Of%20Controller%20Tracking%20Performance%20Based%20On%20Taylor%E2%80%99s%20Series%20Expansion%20Model.pdf
id ump-10108
recordtype eprints
spelling ump-101082016-06-21T03:24:07Z http://umpir.ump.edu.my/id/eprint/10108/ The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model Maziyah, Mat Noh M. R., Arshad Rosmiwati, Mohd Mokhtar TK Electrical engineering. Electronics Nuclear engineering This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time. Penerbit Universiti Teknologi Malaysia 2015 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10108/1/The%20Evaluation%20Of%20Controller%20Tracking%20Performance%20Based%20On%20Taylor%E2%80%99s%20Series%20Expansion%20Model.pdf Maziyah, Mat Noh and M. R., Arshad and Rosmiwati, Mohd Mokhtar (2015) The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model. Jurnal Teknologi (Sciences and Engineering), 74 (9). pp. 175-181. ISSN 0127-9696 (print); 2180-3722 (online) http://dx.doi.org/10.11113/jt.v74.4823 doi: 10.11113/jt.v74.4823
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Maziyah, Mat Noh
M. R., Arshad
Rosmiwati, Mohd Mokhtar
The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model
description This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time.
format Article
author Maziyah, Mat Noh
M. R., Arshad
Rosmiwati, Mohd Mokhtar
author_facet Maziyah, Mat Noh
M. R., Arshad
Rosmiwati, Mohd Mokhtar
author_sort Maziyah, Mat Noh
title The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model
title_short The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model
title_full The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model
title_fullStr The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model
title_full_unstemmed The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model
title_sort evaluation of controller tracking performance based on taylor’s series expansion model
publisher Penerbit Universiti Teknologi Malaysia
publishDate 2015
url http://umpir.ump.edu.my/id/eprint/10108/
http://umpir.ump.edu.my/id/eprint/10108/
http://umpir.ump.edu.my/id/eprint/10108/
http://umpir.ump.edu.my/id/eprint/10108/1/The%20Evaluation%20Of%20Controller%20Tracking%20Performance%20Based%20On%20Taylor%E2%80%99s%20Series%20Expansion%20Model.pdf
first_indexed 2023-09-18T22:09:22Z
last_indexed 2023-09-18T22:09:22Z
_version_ 1777414924068192256

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